import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
import os

import launch_ros.parameter_descriptions

def generate_launch_description():
    urdf_package_path = get_package_share_directory('jarvis_description')
    default_urdf_path = os.path.join(urdf_package_path, 'urdf','first_robot.urdf')
    default_config_path = os.path.join(urdf_package_path, 'config','display_robot_model.rviz')
    
    # urdf目录
    action_declare_arg_model_path = launch.actions.DeclareLaunchArgument(
        name='model', default_value=str(default_urdf_path), description='加载的模型文件路径'
    )
    substitutions_command_result = launch.substitutions.Command(['xacro ', launch.substitutions.LaunchConfiguration('model')])
    robot_description_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result,value_type=str)
    
    action_robot_state_publisher = launch_ros.actions.Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        parameters=[{'robot_description':robot_description_value}]
    )
    action_joint_state_publisher = launch_ros.actions.Node(
        package='joint_state_publisher',
        executable='joint_state_publisher'
    )
    
    action_rviz_node = launch_ros.actions.Node(
        package='rviz2',
        executable='rviz2',
        arguments=['-d', default_config_path]
    )
    
    return launch.LaunchDescription([
        action_declare_arg_model_path,
        action_robot_state_publisher,
        action_joint_state_publisher,
        action_rviz_node,
    ])